Simultaneous Hand-Eye Calibration and Reconstruction - shecar

changelog

原仓库地址: https://github.com/STAR-Center/shecar

sfm仓库地址: https://github.com/zhixy/TheiaSfM/tree/HandEye

修复bug...

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We present a novel pipeline for hand-eye calibration which combines classical hand-eye calibration with 3D reconstruction. This work will be presented at IROS 2017.

The accompyniying dataset is located at: https://robotics.shanghaitech.edu.cn/datasets/shecar

Dependencies

1. Theia. This project highly depends on Theia. It is worthy mentioning that we are not using the mainstream of theia, to make it easy to reuse, we modify the original code a little, so please be sure you are using the code provided here. After you install Theia successfully, you should compile this project without any trouble.

How to run

We have a sample dataset in 'data/', after you compile successfully, you can try this dataset by

./bin/SHECAR --flagfile=hand_eye_calibration_flags.txt

Authors:

Code & paper: Zhi Xiangyang: https://robotics.shanghaitech.edu.cn/people/zhi

Paper: Sören Schwertfeger: https://robotics.shanghaitech.edu.cn/people/soeren